Aruco module GPU-accelerated

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I have a GeForce 1070 Graphics card, I want to know if the Aruco module is GPU-accelerated? If it's not the case? How can I do so?

I notice that we can use the datatype UMat instead of Mat on the images that we need to process to makes OpenCV use GPU whenever possible. I tried it, and when I run nvidia-smi -lms to see if my process is actually making use of the GPU, it shows up there as one of the processes

However, the % utility of the GPU is so low though, like 5~6% and the only like 91 MB is used.

Note: The process (my program a.out) is doing marker detection and pose estimation on images coming from a videocapture source of 60fps and 640x480 resolution